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Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers
| Date | Stars |
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| 2026-07-24 | 511 |
| 2026-07-25 | 511 |
| 2026-07-28 | 511 |
| 2026-07-30 | 511 |
| 2026-08-06 | 511 |
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### Implementation of UR5 pick and place in ROS-Gazebo with a USB cam and vacuum grippers.
<p align="center">
<img src="https://github.com/lihuang3/ur5_notebook/blob/master/media/demo1.gif" width="400">
<img src="https://github.com/lihuang3/ur5_notebook/blob/master/media/demo2.gif" width="405">
This repository demonstrates UR5 pick-and-place in ROS and Gazebo. The UR5 uses a USB cam to detect a red box on a conveyor ([`ur5_vision.py`](https://github.com/lihuang3/ur5_ROS-Gazebo/blob/master/ur5_vision.py)), and publish its position. UR5 plans its motion ([`ur5_mp.py`](https://github.com/lihuang3/ur5_ROS-Gazebo/blob/master/ur5_mp.py)) to follow the box. Once the end-effector gets close enough to the box, it approaches the box with vacuum grippers turning on ([`ur5_gripper.py`](https://github.com/lihuang3/ur5_ROS-Gazebo/blob/master/ur5_gripper.py)). Since the vacuum gripper only provides limited force, we placed multiple grippers in order to lift the object.
- Video demos:
[`Simulation video`](https://youtu.be/Yj5DEocFa48)
[`Hardware video`](https://youtu.be/FAYPbAhYoXw)
- Hardware implementation in UR3:
[`ur3_ROS-hardware`](https://github.com/lihuang3/ur3_ROS-hardware.git)
- Update: based on feebacks from the community, we have made several key changes to this repository on 09/16/2018. Please update your code in case you have trouble reproducing the results.
- How to cite this repository:
```
Huang, L., Zhao, H., Implementation of UR5 pick and place in ROS-Gazebo with a USB cam and vacuum grippers, (2018), GitHub repository, https://github.com/lihuang3/ur5_ROS-Gazebo.git
```
or BibTex
```
@misc{Huang2018,
author = {Huang, L., Zhao, H.},
title = {Implementation of UR5 pick and place in ROS-Gazebo with a USB cam and vacuum grippers},
year = {2018},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://github.com/lihuang3/ur5_ROS-Gazebo.git}}
}
```
#### How to use this repository
- This project was tested in Ubuntu 16.04 with ROS kinetic.
- Make sure you have installed Python2.7 and some useful libraries/packages, such as Numpy, cv2, etc.
- Install ROS kinetic, Gazebo, universal robot, Moveit, RViz.
- Assuming your universal robot workspace is named as `ur_ws`, download the repository to `ur_ws/src/`
```
$ cd ur_ws/src
$ git clone https://github.com/lihuang3/ur5_ROS-Gazebo.git
```
- Under `ur_ws/src`, there are two folders: one is the official `universal_robot`, and the other is `ur5_ROS-Gazebo`. Open file `ur5_joint_limited_robot.urdf.xacro` under `ur_ws/src/universal_robot/ur_description/urdf/`, and __make the following change to the joint limit:__
```
shoulder_pan_lower_limit="${-2*pi}" shoulder_pan_upper_limit="${2*pi}"
```
- In the same directory, make a copy of `common.gazebo.xacro` and `ur5.urdf.xacro` in case of any malfunction.
These two default files do not include camera and vacuum gripper modules.
So we would replace these two files with customized files.
Under directory `ur_ws/src/ur5_ROS-Gazebo/src/ur_description/`, copy `common.gazebo.xacro` and `ur5.urdf.xacro` to `ur_ws/src/universal_robot/ur_description/urdf/`.
- Build the code under directory `ur_ws/`,
```
$ catkin_make
$ source devel/setup.bash
```
- Run the code with ROS and Gazebo
```
$ roslaunch ur5_notebook initialize.launch
```
- Things to work on: (1) vacuum grippers only provide limited force for lifting, so we had to use so many of them in order to pick up a light box. If you have any suggestions, please let us know. (2) UR5 motion planning is not in realtime, and hence you can ovserve a non-smooth motion of the end-effect in the camera view.
#### 0. References
- [__`GitHub: utecrobotics/ur5`__](https://github.com/utecrobotics/ur5) testing ur5 motion
- [__`Very useful ROS blog`__](http://www.guyuehome.com/column/ros-explore) ROS探索
- [__`ROS下如何使用moveit驱动UR5机械臂`__](http://blog.csdn.net/jayandchuxu/article/details/5469Excerpt of 12,989 characters
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